Telescopic hot chamber master-slave manipulator for radioactive waste treatment

Abstract

The utility model discloses a telescopic hot chamber master-slave manipulator for radioactive waste treatment, which comprises a base, the upper end of the base is rotatably connected with a big arm I, one end part of the big arm is provided with a big arm II, the end part of the big arm II is provided with a small arm, the end part of the small arm is rotatably connected with a bucket, and the bucket is provided with a hydraulic cylinder. The outer wall of one side of the bucket is arranged in an inclined opening mode, the upper end face of the bucket is rotationally connected with a frame, the inner wall of the frame is rotationally connected with a threaded rod, the threaded rod is connected with a shovel plate through a connecting mechanism, radioactive waste is scraped into the bucket through the shovel plate, and due to the design of the bucket, the waste can be fixed and supported more stably; compared with a mechanical claw, the radioactive waste can be more effectively prevented from being further deformed or crushed in the carrying process, meanwhile, the large-capacity and firm structure of the bucket can bear the weight of the waste, the pressure on the waste is reduced through a proper grabbing mode, and therefore the risk that the waste is damaged is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of master-slave manipulators, in particular to a telescopic hot chamber master-slave manipulator for radioactive waste treatment. Background Art

[0002] A telescopic hot cell master-slave manipulator for radioactive waste treatment not only provides the functions of a traditional master-slave manipulator, but also takes the safety and efficiency of radioactive waste treatment to a new level through its scalable characteristics and high adaptability to extreme environments. Remote operation function: The operator can remotely control the telescopic hot cell manipulator through a visual assistance system in a controlled environment, eliminating the need for direct contact with the radioactive environment.

[0003] Currently, most of the existing telescopic manipulators for radioactive waste treatment use multi-axis robotic arms to drive mechanical claws to grab radioactive waste. The mechanical claws need appropriate gripping force when grabbing radioactive waste, and radioactive waste may be deformed or broken due to long-term storage or its own characteristics, which may cause the waste to be crushed or damaged. Therefore, it is necessary to redesign a telescopic hot cell master-slave manipulator for radioactive waste treatment to address the above problems. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a telescopic hot chamber master-slave manipulator for radioactive waste treatment.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A telescopic hot chamber master-slave manipulator for radioactive waste treatment comprises a base, wherein the upper end of the base is rotatably connected to a large arm one, a large arm two is mounted on the end of the large arm one, a small arm is mounted on the end of the large arm two, a bucket is rotatably connected to the end of the small arm, an outer wall on one side of the bucket is inclined and open, an upper end surface of the bucket is rotatably connected to a frame, an inner wall of the frame is rotatably connected to a threaded rod, the threaded rod is connected to a shovel plate via a connecting mechanism, and the shovel plate contacts the inner bottom of the bucket.

[0007] Preferably, the connection mechanism comprises a slider threadedly connected to the threaded section of the threaded rod, a connecting block is fixedly connected to the lower end of the slider, and the connecting block is fixedly connected to the shovel plate.

[0008] Preferably, two groups of side panels are fixedly connected to the upper end surface of the frame and are symmetrically arranged, and a slide seat is fixedly connected between the two groups of side panels.

[0009] Preferably, the outer wall of the forearm is rotatably connected to an electric telescopic rod, the outer wall of the slide rod is slidably connected to a slide seat, and the telescopic end of the electric telescopic rod is rotatably connected to the slide seat.

[0010] Preferably, the upper end surface of the slider is arranged in a plane, and the upper end surface of the slider is in close contact with the top of the frame.

[0011] Preferably, a plurality of groups of bolts are installed on the upper end of the base, and the plurality of groups of bolts are symmetrically arranged in pairs.

[0012] The utility model has the following beneficial effects:

[0013] 1. The utility model provides a bucket, a shovel plate, a threaded rod and other devices, and uses the shovel plate to scrape the radioactive waste into the bucket. The design of the bucket can usually fix and support the waste more firmly. Compared with a mechanical claw, it can more effectively prevent the radioactive waste from being further deformed or broken during the transportation process. At the same time, the large capacity and solid structure of the bucket can bear the weight of the waste, and reduce the pressure on the waste through a suitable grasping method, thereby reducing the risk of waste damage.

[0014] 2. The utility model provides electric telescopic rods, sliding rods, sliding seats and other devices, and can adjust the position of the shovel plate to adjust the collection range of the shovel plate according to the size and shape of the radioactive waste, thereby ensuring that the bucket can effectively collect waste of various sizes and shapes, thereby improving the applicability and flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a telescopic hot cell master-slave manipulator for radioactive waste treatment proposed by the utility model;

[0016] Figure 2 for Figure 1 Middle and small arms and their outer wall components.

[0017] Figure 3 for Figure 1 Middle frame and its outer wall components.

[0018] In the figure: 1. base; 2. upper arm 1; 3. upper arm 2; 4. lower arm; 5. electric telescopic rod; 6. bucket; 7. side plate; 8. slide rod; 9. slide seat; 10. threaded rod; 11. shovel plate; 12. slide block; 13. connecting block; 14. frame. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0020] Reference Figure 1-3 A telescopic hot chamber master-slave manipulator for radioactive waste treatment comprises a base 1, wherein the upper end of the base 1 is rotatably connected to a large arm 12, a large arm 23 is installed at the end of the large arm 12, a small arm 4 is installed at the end of the large arm 23, a bucket 6 is rotatably connected to the end of the small arm 4, and the outer wall of one side of the bucket 6 is inclined and open. The upper end surface of the bucket 6 is rotatably connected to a frame 14, and the inner wall of the frame 14 is rotatably connected to a threaded rod 10. The threaded rod 10 is connected to a shovel plate 11 through a connecting mechanism, and the shovel plate 11 contacts the inner bottom of the bucket 6. The connecting mechanism comprises a slider 12 threadedly connected to the threaded segment of the threaded rod 10, and a connecting block 13 is fixedly connected to the lower end of the slider 12, and the connecting block 13 is fixedly connected to the shovel plate 11. The design of the bucket 6 can usually fix and support the waste more firmly. Compared with a mechanical claw, it can more effectively prevent the radioactive waste from being further deformed or broken during the handling process. At the same time, the large capacity and solid structure of the bucket 6 can withstand the weight of the waste and reduce the pressure on the waste through a suitable grasping method, thereby reducing the risk of waste damage.

[0021] Reference Figure 3 and Figure 2 Two groups of side plates 7 are fixedly connected to the upper end surface of the frame 14 and are symmetrically arranged. A slide seat 9 is fixedly connected between the two groups of side plates 7. The outer wall of the forearm 4 is rotatably connected to the electric telescopic rod 5, and the outer wall of the slide rod 8 is slidably connected to the slide seat 9. The telescopic end of the electric telescopic rod 5 is rotatably connected to the slide seat 9. The extension of the telescopic end of the electric telescopic rod 5 can drive the frame 14 to rotate, and then drive the shovel plate 11 to fall until it contacts the upper end surface of the bucket 6. With the help of the movement of the shovel plate 11, the waste outside the bucket 6 can be scraped into the inside of the bucket 6.

[0022] Reference Figure 1 and Figure 3 The upper end surface of the slider 12 is arranged in a plane, and the upper end surface of the slider 12 is in close contact with the top of the frame 14. A plurality of groups of bolts are installed on the upper end of the base 1, and the plurality of groups of bolts are arranged symmetrically in pairs. The arrangement of the bolts can effectively reduce vibration and looseness during operation, ensure that the device maintains a stable connection state during operation, and reduce the occurrence of faults.

[0023] In the utility model, the specific function of the device is as follows: when the device is used, the bucket 6 can be driven to move to the radioactive waste by means of the operation of the big arm 1 2, the big arm 2 3 and the small arm 4, and the electric telescopic rod 5 is extended to the telescopic end to drive the slide 9 to slide on the outer wall of the slide rod 8. When sliding, the frame 14 can rotate around the connection point with the bucket 6 until the set shovel plate 11 contacts the bottom of the bucket 6. By adjusting the position of the shovel plate 11, the collection range of the shovel plate 11 can be adjusted according to the size and shape of the radioactive waste, so as to ensure that the bucket 6 can effectively collect wastes of various sizes and shapes. The applicability and flexibility of the device are improved. Then, the slider 12 is driven to slide by the threaded rod 10, and the shovel plate 11 is driven to slide inward synchronously, so that the waste outside the bucket 6 can be scraped into the inside of the bucket 6 to collect the radioactive waste. The design of the bucket 6 can usually fix and support the waste more firmly. Compared with the mechanical claw, it can more effectively prevent the radioactive waste from being further deformed or broken during the transportation process. At the same time, the large capacity and solid structure of the bucket 6 can bear the weight of the waste, and reduce the pressure on the waste through a suitable grasping method, thereby reducing the risk of waste damage.

[0024] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A telescopic hot cell master-slave manipulator for radioactive waste treatment, comprising a base (1), characterized in that: The upper end of the base (1) is rotatably connected to a boom 1 (2), a boom 2 (3) is mounted on the end of the boom 1 (2), a small arm (4) is mounted on the end of the boom 2 (3), a bucket (6) is rotatably connected to the end of the small arm (4), an outer wall of one side of the bucket (6) is arranged in an inclined open shape, an upper end surface of the bucket (6) is rotatably connected to a frame (14), an inner wall of the frame (14) is rotatably connected to a threaded rod (10), the threaded rod (10) is connected to a shovel plate (11) via a connecting mechanism, and the shovel plate (11) contacts the inner bottom of the bucket (6).

2. A telescopic hot cell master-slave manipulator for radioactive waste treatment according to claim 1, characterized in that: The connection mechanism comprises a slider (12) threadedly connected to a threaded section of a threaded rod (10), a connection block (13) being fixedly connected to the lower end of the slider (12), and the connection block (13) being fixedly connected to the shovel plate (11).

3. A telescopic hot cell master-slave manipulator for radioactive waste treatment according to claim 2, characterized in that: Two groups of side panels (7) are fixedly connected to the upper end surface of the frame (14) and are symmetrically arranged, and a sliding seat (9) is fixedly connected between the two groups of side panels (7).

4. A telescopic hot cell master-slave manipulator for radioactive waste treatment according to claim 3, characterized in that: The outer wall of the small arm (4) is rotatably connected to an electric telescopic rod (5), the outer wall of the slide rod (8) is slidably connected to a slide seat (9), and the telescopic end of the electric telescopic rod (5) is rotatably connected to the slide seat (9).

5. A telescopic hot cell master-slave manipulator for radioactive waste treatment according to claim 4, characterized in that: The upper end surface of the slider (12) is arranged in a plane, and the upper end surface of the slider (12) is in close contact with the top of the frame (14).

6. A telescopic hot cell master-slave manipulator for radioactive waste treatment according to claim 5, characterized in that: A plurality of groups of bolts are mounted on the upper end of the base (1), and the plurality of groups of bolts are symmetrically arranged in pairs.

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